Robot

Abstract

The utility model discloses a robot. The robot comprises a first joint, a second joint and a first conveying structure. A first through hole is formed in the first joint; a second through hole is formed in the second joint; one of the first joint and the second joint drives the other to rotate; the first conveying structure penetrates through the first through hole and the second through hole; wherein the second joint can rotate to an original position, a first limit position and a second limit position relative to the first joint, and the angle of the second joint rotating to the first limit position from the original position is the same as the angle of the second joint rotating to the second limit position; when the second joint rotates to the first limit position and rotates to the second limit position, the displacement amount of the part, located in the second through hole, of the first conveying structure is the same relative to the displacement amount of the part, located in the first through hole, of the first conveying structure. When the second joint rotates by the same angle in the two opposite directions relative to the first joint, the inclination degree of the first conveying structure is the same, and therefore abrasion of the first conveying structure is even.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical equipment, and in particular to a robot. Background Art

[0002] The robot's internal structure requires a transport structure to transport electricity, gas, or liquid. For example, a transport structure connects motors in adjacent joints to transmit power. Another example is a transport structure that passes through multiple joints to connect to a spray gun on the robot's operating end to deliver gas or liquid to the spray gun.

[0003] When a conveying structure passes through two adjacent, relatively rotatable joints, it exits one joint to the outside world and then reenters the other joint. To ensure the normal rotation of both joints, the conveying structure is typically a wire harness or hose that bends to accommodate the rotation of the two joints. However, the points on the two joints where the conveying structure passes are typically staggered. When one joint rotates the same angle in opposite directions relative to the other joint, the conveying structure's tilt is inconsistent, resulting in uneven wear of the conveying structure and shortening its service life. Utility Model Content

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a robot in which a conveying structure tilts to the same degree when a joint rotates the same angle in two opposite directions relative to another joint, thereby uniformly wearing the conveying structure and increasing its service life.

[0005] According to an embodiment of the present application, the robot includes: a first joint, a second joint, and a first conveying structure. The first joint is provided with a first through hole; the second joint is provided with a second through hole; one of the first joint and the second joint drives the other to rotate; the first conveying structure is used to convey electricity, gas, or liquid, and the first conveying structure is provided with the first through hole and the second through hole; wherein, the second joint can be rotated relative to the first joint to an original position, a first limit position, and a second limit position, and the angle of rotation of the second joint from the original position to the first limit position is the same as the angle of rotation to the second limit position; when the second joint rotates to the first limit position and to the second limit position, the displacement of the portion of the first conveying structure located in the second through hole relative to the portion of the first conveying structure located in the first through hole is the same.

[0006] The robot according to the embodiment of the present application has at least the following beneficial effects: during the rotation of the second joint relative to the first joint, the position of the first through hole and the position of the second through hole will be relatively offset, and the first conveying structure will tilt. When the second joint rotates from the original position to the first extreme position and then to the second extreme position relative to the first joint, the portion of the first conveying structure located within the first through hole is displaced by the same amount relative to the portion of the first conveying structure located within the second through hole. Thus, when the second joint rotates the same angle in two opposite directions relative to the first joint, the first conveying structure tilts to the same degree, thereby ensuring uniform wear of the first conveying structure and increasing the service life of the first conveying structure.

[0007] According to some embodiments of the present application, the first conveying structure includes a first conveying part and a second conveying part, the first conveying part is at least partially located in the first joint, and the first conveying part is provided with a first joint, the second conveying part is at least partially located in the second joint, and the second conveying part is provided with a second joint, and the first joint and the second joint are detachably connected to make the first conveying part and the second conveying part conductive.

[0008] According to some embodiments of the present application, the first delivery portion is located in the first joint, and the first connector is fixed in the first through hole.

[0009] According to some embodiments of the present application, a first convex portion is provided on the outer side of the first joint, and the opening of the first through hole is formed on a side of the first convex portion close to the second joint.

[0010] According to some embodiments of the present application, the first conveying structure also includes a third conveying part, the second conveying part is located in the second joint, and the second joint is fixed in the second through hole; third joints are respectively provided at both ends of the third conveying part, and the first joint and the second joint are respectively detachably connected to one of the third joints to make the first conveying part, the third conveying part and the second conveying part conductive.

[0011] According to some embodiments of the present application, the first conveying structure is electrically connected to the electrical structure in the first joint and the electrical structure in the second joint respectively.

[0012] According to some embodiments of the present application, the first conveying structure is detachably connected to the electrical structure in the first joint and the electrical structure in the second joint, respectively.

[0013] According to some embodiments of the present application, a third joint and a second conveying structure are further included, wherein the fixed end of the third joint is fixedly connected to the fixed end of the first joint, and the second conveying structure is respectively connected to the fixed end of the third joint and the fixed end of the first joint.

[0014] According to some embodiments of the present application, a connecting arm is further included, wherein the connecting arm connects the fixed end of the third joint and the fixed end of the first joint, a channel is formed inside the connecting arm, and the second conveying structure is arranged through the channel.

[0015] According to some embodiments of the present application, the first joint is a machine base, a connecting plate is provided on the side of the machine base, and the connecting plate has the first through hole.

[0016] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present application is further described below with reference to the accompanying drawings and embodiments, wherein:

[0018] Figure 1 A three-dimensional diagram of a robot according to an embodiment of the present application;

[0019] Figure 2 for Figure 1 A cross-sectional view of the robot in ;

[0020] Figure 3 for Figure 1 A schematic diagram of a portion of the structure of the first embodiment of the robot;

[0021] Figure 4 for Figure 3 A cross-sectional view of the robot in ;

[0022] Figure 5 for Figure 1 A partial structural diagram of a second embodiment of the robot;

[0023] Figure 6 for Figure 1 A schematic diagram of a portion of the structure of a third embodiment of the robot;

[0024] Figure 7 for Figure 1 A schematic diagram of a portion of the structure of a fourth embodiment of the robot;

[0025] Figure 8 for Figure 1 A schematic diagram of the partial structure of a fifth embodiment of the robot in FIG.

[0026] Reference numerals:

[0027] First joint 100; first through hole 110; first protrusion 120; connecting plate 130;

[0028] Second joint 200; second through hole 210; second protrusion 220;

[0029] First conveying structure 300; first conveying portion 310; first joint 311; second conveying portion 320; second joint 321; third conveying portion 330; third joint 331;

[0030] The third joint 400;

[0031] Second conveying structure 500;

[0032] Connecting arm 600; channel 610;

[0033] Electrical structure 700;

[0034] J1 joint 810 ; J2 joint 820 ; J3 joint 830 ; J4 joint 840 ; J5 joint 850 . DETAILED DESCRIPTION

[0035] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0036] In the description of this application, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application.

[0037] In the description of this application, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0038] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0039] In the description of this application, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0040] Reference Figure 1 and Figure 2 According to an embodiment of the present application, a robot includes: a first joint 100, a second joint 200, and a first conveying structure 300. The first joint 100 is provided with a first through hole 110; the second joint 200 is provided with a second through hole 210; one of the first joint 100 and the second joint 200 drives the other to rotate; the first conveying structure 300 is used to convey electricity, gas, or liquid, and the first conveying structure 300 is penetrated by the first through hole 110 and the second through hole 210; wherein the second joint 200 can rotate relative to the first joint 100 to an original position, a first limit position, and a second limit position, and the angle of rotation of the second joint 200 from the original position to the first limit position and the angle of rotation to the second limit position are the same; when the second joint 200 rotates to the first limit position and to the second limit position, the displacement of the portion of the first conveying structure 300 located in the second through hole 210 relative to the portion of the first conveying structure 300 located in the first through hole 110 is the same.

[0041] It is understandable that, referring to Figure 2, the first conveying structure 300 passes through the first through hole 110 and the second through hole 210 so as to be able to penetrate into the first joint 100 and the second joint 200, and the first conveying structure 300 is partially located outside. One of the first joint 100 and the second joint 200 can drive the other to rotate, for example, the first joint 100 drives the second joint 200 to rotate, or the second joint 200 drives the first joint 100 to rotate, as long as the first joint 100 and the second joint 200 can rotate relative to each other. The second joint 200 can rotate to the original position, the first limit position and the second limit position relative to the first joint 100. When the second joint 200 rotates to the original position relative to the first joint 100, the second joint 200 can rotate clockwise or counterclockwise relative to the first joint 100. It should be noted that the second joint 200 has a certain range of rotation when rotating relative to the first joint 100. When the second joint 200 rotates to the two limit positions in the rotation range relative to the first joint 100, the second joint 200 rotates to the first limit position or the second limit position relative to the first joint 100. For example, when the second joint 200 rotates to its original position relative to the first joint 100, the rotation angle of the second joint 200 relative to the first joint 100 is 0 degrees. At this time, the maximum angle that the second joint 200 can rotate clockwise relative to the first joint 100 is 100 degrees, and the maximum angle that the second joint 200 can rotate counterclockwise relative to the first joint 100 is also 100 degrees. Therefore, the rotation range of the second joint 200 relative to the first joint 100 is -100 degrees to +100 degrees. When the second joint 200 rotates 100 degrees clockwise relative to the first joint 100, the second joint 200 rotates to the first extreme position. When the second joint 200 rotates 100 degrees counterclockwise relative to the first joint 100, the second joint 200 rotates to the second extreme position. It should be understood that the above-mentioned values of the rotation angle and rotation range of the second joint 200 compared to the first joint 100 are illustrative. In some embodiments, the rotation angle and rotation range may also be other values.

[0042] During the rotation of the second joint 200 relative to the first joint 100, the positions of the first through-hole 110 and the second through-hole 210 will shift relative to each other, causing the first conveying structure 300 to tilt. During the rotation of the second joint 200 relative to the first joint 100 from its original position to its first extreme position and to its second extreme position, the portion of the first conveying structure 300 located within the first through-hole 110 is displaced by the same amount relative to the portion of the first conveying structure 300 located within the second through-hole 210. Consequently, when the second joint 200 rotates the same angle in opposite directions relative to the first joint 100, the first conveying structure 300 tilts at the same degree. This ensures uniform wear of the first conveying structure 300, thereby increasing its service life. For example, when the second joint 200 rotates 30 degrees clockwise relative to the first joint 100, and when the second joint 200 rotates 30 degrees counterclockwise relative to the first joint 100, the position of the second through hole 210 deviates from the position of the first through hole 110 by the same distance, so that the first conveying structure 300 has the same degree of inclination when the second joint 200 rotates clockwise relative to the first joint 100 and when it rotates counterclockwise.

[0043] Regarding the specific form of the first conveying structure 300:

[0044] In some embodiments, reference Figure 2 The first delivery structure 300 is electrically connected to the electrical structure 700 in the first joint 100 and the electrical structure 700 in the second joint 200, respectively. The first delivery structure 300 includes a wiring harness, which electrically connects the electrical structure 700 in the first joint 100 and the electrical structure 700 in the second joint 200 to transmit power to the electrical structure 700. The electrical structure 700 is, for example, a motor. Specifically, the first delivery structure 300 may further include a circuit board, which is placed in the first joint 100 and / or the second joint 200 and cooperates with the wiring harness to transmit power and control the transmission of power. Specifically, the motor in the first joint 100 can be connected to an external power source, so that the motor in the first joint 100 and the motor in the second joint 200 are electrically connected through the wiring harness, so that power from the external power source can be transmitted to the motor in the second joint 200. Specifically, to facilitate the connection between the first delivery structure 300 and the electrical structure 700, the first delivery structure 300 is detachably connected to the electrical structure 700 in the first joint 100 and the electrical structure 700 in the second joint 200.

[0045] In some embodiments, a spray gun can be provided at the operating end of the robot, and the first conveying structure 300 includes a hose, which is used to convey liquid or gas. The hose only passes through the first joint 100 and the second joint 200, but the hose is not connected to the structure inside the first joint 100 and the second joint 200. The hose passes into the first joint 100 and the second joint 200 to limit the direction of the hose, and the end of the hose can be connected to the spray gun at the operating end to allow the gas or liquid to be transmitted to the spray gun.

[0046] In some embodiments, the first joint 100 or the second joint 200 is a pneumatic joint or a hydraulic joint, and the hose can transmit gas or liquid to the driving end in the first joint 100 or the second joint 200 to enable the driving end to move.

[0047] In order to facilitate the installation of the first conveying structure 300, refer to Figure 3 、 Figure 4 and Figure 5 The first conveying structure 300 includes a first conveying part 310 and a second conveying part 320. The first conveying part 310 is at least partially located in the first joint 100, and the first conveying part 310 is provided with a first joint 311. The second conveying part 320 is at least partially located in the second joint 200, and the second conveying part 320 is provided with a second joint 321. The first joint 311 and the second joint 321 are detachably connected to make the first conveying part 310 and the second conveying part 320 conductive.

[0048] It is understood that, in the process of connecting the first joint 100 and the second joint 200, the first conveying unit 310 can be connected to the first joint 100, and the second conveying unit 320 can be connected to the second joint 200. By docking the first joint 311 and the second joint 321, the first conveying unit 310 and the second conveying unit 320 can be connected to each other, so that electricity, gas or liquid can be normally transported, thereby achieving rapid installation of the first conveying unit 310 and the second conveying unit 320. It should be understood that when the first joint 100 or the second joint 200 needs to be repaired, the first joint 311 and the second joint 321 can be separated to disconnect the first conveying unit 310 and the second conveying unit 320, thereby allowing the first conveying unit 310 and the second conveying unit 320 to be quickly separated for easy maintenance.

[0049] Specifically, the connection position of the first conveying unit 310 and the second conveying unit 320 can be located inside the first joint 100, inside the second joint 200, or outside, which is not limited here.

[0050] In order to facilitate docking with the first connector 311 on the first conveying part 310, refer to Figure 4 The first conveying portion 310 is located in the first joint 100 , and the first connector 311 is fixed in the first through hole 110 .

[0051] It is understandable that, referring to Figure 4 The first conveying unit 310 is completely located in the first joint 100, and the first connector 311 provided on the first conveying unit 310 is fixed in the first through hole 110, so that the second connector 321 can be docked with the first connector 311. Moreover, when the second joint 200 rotates relative to the first joint 100, the first conveying unit 310 is not affected by the rotation process of the second joint 200 relative to the first joint 100, and the position of the first conveying unit 310 can be kept stable, and the connection stability between the first conveying unit 310 and the electrical structure 700 in the first joint 100 can be ensured. It should be understood that, with reference to Figure 6 In some embodiments, the second conveying portion 320 may also be disposed in the second joint 200 , and the second joint 321 may be fixed in the second through hole 210 .

[0052] Regarding the connection form of the first conveying unit 310 and the second conveying unit 320:

[0053] In some embodiments, reference Figure 3 、 Figure 4 and Figure 6The second conveying part 320 is directly docked with the first conveying part 310 through the first joint 311 and the second joint 321. The second conveying part 320 is provided with a second through hole 210. The second conveying part 320 is partially located inside the second joint 200 and partially located outside. The part of the second conveying part 320 located outside is provided with a second joint 321. Since the first joint 311 is located in the first through hole 110, the second joint 321 can be inserted into the first through hole 110 to dock with the first joint 311, so as to facilitate the docking of the second conveying part 320 with the first conveying part 310, and when the second joint 200 rotates relative to the first joint 100, the part of the second conveying part 320 located outside is deflected. For example, the first conveying part 310 and the second conveying part 320 both include a wiring harness, a first connector 311 is provided at one end of the wiring harness of the first conveying part 310, and the other end is electrically connected to the motor in the first joint 100; a second connector 321 is provided at one end of the wiring harness of the second conveying part 320, the second connector 321 is plugged into the first connector 311, and the other end of the wiring harness of the second conveying part 320 is electrically connected to the motor in the second joint 200, so that the first conveying part 310 and the second conveying part 320 can transmit power from the motor in the first joint 100 to the motor in the second joint 200. Since the first conveying part 310 is located in the first joint 100, during the rotation of the second joint 200 relative to the first joint 100, the first conveying part 310 is stably connected to the motor in the first joint 100. For another example, the first conveying part 310 includes a wiring harness and a circuit board, a first connector 311 is provided on the circuit board, the wiring harness of the second conveying part 320 is connected to the first connector 311 through the second connector 321, and the circuit board is electrically connected to the motor in the first joint 100 through the wiring harness of the first conveying part 310, so that the circuit board can transmit power to the motor in the first joint 100 and the motor in the second joint 200.

[0054] Specifically, in order to reduce the risk of the second connector 321 falling off from the first connector 311, refer to Figure 7 A first convex portion 120 is provided on the outer side of the first joint 100 , and the opening of the first through hole 110 is formed on the side of the first convex portion 120 close to the second joint 200 .

[0055] It is understandable that in order to ensure that the second conveying part 320 will not be torn off when the second joint 200 rotates relative to the first joint 100, the second conveying part 320 has a certain length, thereby the part of the second conveying part 320 located on the outside is bent, and the end of the second conveying part 320 provided with the second joint 321 is roughly perpendicular to the outside of the first joint 100. The first protrusion 120 protrudes from the outer surface of the first joint 100, and the opening of the first through hole 110 faces the second joint 200. The first joint 311 fixed in the first through hole 110 will also face the second joint 200, so that when the second joint 321 is docked with the first joint 311, the end of the second conveying part 320 provided with the second joint 321 will form a bend, so that the second conveying part 320 is not easily detached from the first joint 311 when pulled by external force. It should be understood that, with reference to Figure 6 In an embodiment in which the second conveying portion 320 is located in the second joint 200 and the second joint 321 is fixed in the second through hole 210, a second protrusion 220 is provided on the outside of the second joint 200, and the second protrusion 220 forms an opening of the second through hole 210 toward the side of the first joint 100.

[0056] In some embodiments, reference Figure 5 and Figure 7 The first conveying structure 300 further includes a third conveying unit 330, through which the first conveying unit 310 and the second conveying unit 320 are connected. The second conveying unit 320 is located within the second joint 200, and the second connector 321 is fixed within the second through hole 210. A third connector 331 is provided at each end of the third conveying unit 330. The first connector 311 and the second connector 321 are each detachably connected to a third connector 331, thereby ensuring electrical communication between the first conveying unit 310, the third conveying unit 330, and the second conveying unit 320.

[0057] It is understood that the first conveying unit 310 and the second conveying unit 320 are located within the first joint 100 and the second joint 200, respectively, while the third conveying unit 330 is located outside. During the rotation of the second joint 200 relative to the first joint 100, the third conveying unit 330 deflects relative to the first conveying unit 310, while the first conveying unit 310 and the second conveying unit 320 are not affected, thereby ensuring the stability of the connection between the first conveying unit 310 and the second conveying unit 320 and the motor. In addition, the third conveying unit 330 is connected to the first joint 311 and the second joint 321 via two third joints 331, respectively, to facilitate quick assembly and disassembly between the first joint 100 and the second joint 200. The third conveying unit 330 can conduct electricity between the first conveying unit 310 and the second conveying unit 320, thereby allowing electricity, gas, or liquid to be transported through the first conveying unit 310, the third conveying unit 330, and the second conveying unit 320. For example, the first conveying unit 310, the second conveying unit 320 and the third conveying unit 330 all include a wiring harness, and a first connector 311 is provided at one end of the wiring harness of the first conveying unit 310, and the other end is electrically connected to the motor in the first joint 100; a second connector 321 is provided at one end of the wiring harness of the second conveying unit 320, and the other end is electrically connected to the motor in the second joint 200; the two third connectors 331 of the wiring harness of the third conveying unit 330 are respectively plugged into the first connector 311 and the second connector 321 to enable power transmission, and when the second joint 200 rotates relative to the first joint 100, the wiring harness of the first conveying unit 310 and the wiring harness of the second conveying unit 320 are not affected, so that the connection between the wiring harness of the first conveying unit 310 and the motor in the first joint 100 is stable, and the connection between the wiring harness of the second conveying unit 320 and the motor in the second joint 200 is stable. For another example, the first conveying portion 310 and / or the second conveying portion 320 may include a circuit board and a wiring harness, the circuit board is provided with a first connector 311 or a second connector 321 , and the circuit board is connected to the motor via the wiring harness.

[0058] Specifically, in order to reduce the risk of the third connector 331 falling off from the first connector 311 and the second connector 321, refer to Figure 7 A first convex portion 120 is provided on the outer side of the first joint 100, and a second convex portion 220 is provided on the outer side of the second joint 200. The openings of the first through hole 110 and the second through hole 210 are respectively formed on the opposite sides of the first convex portion 120 and the second convex portion 220.

[0059] It can be understood that the first protrusion 120 protrudes from the outer surface of the first joint 100, the opening of the first through hole 110 faces the second protrusion 220, the first joint 311 fixed in the first through hole 110 will also face the second protrusion 220, the opening of the second through hole 210 faces the first protrusion 120, and the second joint 321 fixed in the second through hole 210 will also face the first protrusion 120. Therefore, when the third joint 331 is docked with the first joint 311 and the second joint 321, the end of the third conveying part 330 provided with the third joint 331 will form a bend, so that the third conveying part 330 is not easy to detach from the first joint 311 and the second joint 321 when pulled by external force, and since the opening of the first through hole 110 is opposite to the opening of the second through hole 210, it is convenient for wiring.

[0060] Reference Figure 1 and Figure 8 The robot of the present application also includes a third joint 400 and a second conveying structure 500. The fixed end of the third joint 400 is fixedly connected to the fixed end of the first joint 100, and the second conveying structure 500 is respectively connected to the fixed end of the third joint 400 and the fixed end of the first joint 100.

[0061] It is understood that the fixed end of the third joint 400 is fixedly connected to the fixed end of the first joint 100, and the second conveying structure 500 is connected to the fixed end of the third joint 400 and the fixed end of the first joint 100. Therefore, when the driving end of the third joint 400 and the driving end of the first joint 100 drive the adjacent joints to rotate, the fixed end of the third joint 400 and the fixed end of the first joint 100 remain relatively stationary, so that the movement of the third joint 400 and the first joint 100 does not affect the second conveying structure 500, thereby ensuring the stability of the connection between the second conveying structure 500 and the first joint 100 and the third joint 400. For example, the second conveying structure 500 includes a wiring harness, and the fixed end of the third joint 400 and the fixed end of the first joint 100 both include a wiring tray, and the two ends of the wiring harness are electrically connected to the wiring tray of the third joint 400 and the wiring tray of the first joint 100 to transmit electricity.

[0062] Specifically, refer to Figure 8 The robot of the present application also includes a connecting arm 600, which connects the fixed end of the third joint 400 and the fixed end of the first joint 100. A channel 610 is formed inside the connecting arm 600, and the second conveying structure 500 is passed through the channel 610.

[0063] It can be understood that the third joint 400 and the first joint 100 are connected by the connecting arm 600 to improve the operating range of the robot. The connecting arm 600 is connected to the fixed end of the third joint 400 and the fixed end of the first joint 100. A channel 610 is formed inside the connecting arm 600 to facilitate the accommodation of the second conveying structure 500, and can reduce the weight of the connecting arm 600, thereby realizing a lightweight design of the robot.

[0064] In some embodiments, reference Figure 2 and Figure 3 The first joint 100 is a machine base, which is used to connect to the ground to support other parts of the robot. A connecting plate 130 is provided on the side of the machine base, and the connecting plate 130 has a first through hole 110.

[0065] It is understood that the connection plate 130 disposed on the side of the base can reduce the height of the base, thereby reducing the overall height of the robot, improving space utilization, and reducing the ineffective space that the robot cannot operate in. Specifically, the connection plate 130 can be used to install a circuit board in the base.

[0066] In summary, in a specific embodiment, referring to Figure 1 The robot of the present application includes multiple joints. For example, the robot includes a J1 joint 810, a J2 joint 820, a J3 joint 830, a J4 joint 840, and a J5 joint 850 connected in sequence, wherein the J1 joint 810 serves as a base. It should be understood that the robot may include multiple sets of first joints 100 and second joints 200, for example, referring to Figure 2 and Figure 3 , the connected J1 joint 810 and J2 joint 820 are used as a set of first joint 100 and second joint 200, referring to Figure 2 and Figure 6 , the connected J4 joint 840 and J5 joint 850 are used as a set of first joints 100 and second joints 200. Specifically, when the J4 joint 840 and J5 are used as a set of first joints 100 and second joints 200, refer to Figure 1 and Figure 8 The J3 joint 830 can serve as the above-mentioned third joint 400, that is, the fixed end of the J3 joint 830 is connected to the fixed end of the J4 joint 840, the driving end of the J3 joint 830 is connected to the J2 joint 820, and the driving end of the J4 joint 840 is connected to the J5 joint 850.

[0067] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Various modifications can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features of the embodiments can be combined with each other unless there is a conflict.

Claims

1. A robot, characterized in that include: The first joint is provided with a first through hole; The second joint is provided with a second through hole; one of the first joint and the second joint drives the other to rotate; a first conveying structure for conveying electricity, gas or liquid, wherein the first conveying structure is penetrated by the first through hole and the second through hole; In which, the second joint can rotate to an original position, a first extreme position and a second extreme position relative to the first joint, and the angle of the second joint rotating from the original position to the first extreme position is the same as the angle of the second joint rotating to the second extreme position; when the second joint rotates to the first extreme position and to the second extreme position, the displacement of the part of the first conveying structure located in the second through hole relative to the part of the first conveying structure located in the first through hole is the same.

2. The robot according to claim 1, characterized in that The first conveying structure includes a first conveying part and a second conveying part. The first conveying part is at least partially located in the first joint, and the first conveying part is provided with a first joint. The second conveying part is at least partially located in the second joint, and the second conveying part is provided with a second joint. The first joint and the second joint are detachably connected to make the first conveying part and the second conveying part conductive.

3. The robot according to claim 2, characterized in that The first conveying portion is located in the first joint, and the first connector is fixed in the first through hole.

4. The robot according to claim 3, characterized in that A first convex portion is provided on the outer side of the first joint, and a side of the first convex portion close to the second joint forms an opening of the first through hole.

5. The robot according to claim 3, characterized in that The first conveying structure also includes a third conveying part, the second conveying part is located in the second joint, and the second joint is fixed in the second through hole; third joints are respectively provided at both ends of the third conveying part, and the first joint and the second joint are respectively detachably connected to one of the third joints to make the first conveying part, the third conveying part and the second conveying part conductive.

6. The robot according to any one of claims 1 to 5, characterized in that The first conveying structure is electrically connected to the electrical structure in the first joint and the electrical structure in the second joint respectively.

7. The robot according to claim 6, characterized in that The first conveying structure is detachably connected to the electrical structure in the first joint and the electrical structure in the second joint respectively.

8. The robot according to claim 1, characterized in that It also includes a third joint and a second conveying structure, the fixed end of the third joint is fixedly connected to the fixed end of the first joint, and the second conveying structure is respectively connected to the fixed end of the third joint and the fixed end of the first joint.

9. The robot according to claim 8, characterized in that It also includes a connecting arm, which connects the fixed end of the third joint and the fixed end of the first joint. A channel is formed inside the connecting arm, and the second conveying structure is arranged through the channel.

10. The robot according to claim 1, characterized in that The first joint is a machine base, a connecting plate is provided on a side surface of the machine base, and the connecting plate is provided with the first through hole.

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